Hybrid Feedback Linearization/Fuzzy Logic Control of a Flexible Link Manipulator

Article type: Research Article

Authors: Liu, K. | Lewis, F.L.

Affiliations: Automation & Robotics Research Institute, The University of Texas at Arlington, 7300 Jack Newell Blvd. S., Fort Worth, TX 76118-7115

Abstract: A feedback-linearization/fuzzy logic control scheme for a robotic manipulator with link flexibility is designed. This control scheme is composed of a feedback-linearization inner-loop control and a fuzzy linguistic outer-loop control. A reduced-order computed torque (ROCT) control is first used to linearize the whole system to a Newton's-law-like system, then a linguistic fuzzy controller that consists of 33 condition-action rules is used to command the rigid modes to track the desired trajectories while maintaining the residual vibration as small as possible.

DOI: 10.3233/IFS-1994-2405

Journal: Journal of Intelligent and Fuzzy Systems, vol. 2, no. 4, pp. 325-336, 1994